A lateral releasable dual-axis swing angle and axial depth mechanical limiting guide device

Abstract

The application discloses a lateral-releaseable double-shaft swing angle and axial depth mechanical limiting guide device, and belongs to the technical field of surgical operation instrument auxiliary guiding and mechanical limiting. Shafts A and B are perpendicular to each other and are provided with mechanical working boundary setting structures and independent posture maintaining assemblies; an axial limiting bearing surface is formed on a fixed guide part, and a movable guide part can be opened. A fixed carrier and two-stage rotating members are respectively provided with lateral open areas, and the openings of the two-stage rotating members are opened along with the corresponding members. Three layers of entity openings are configured according to the maximum mechanical settable working swing angle range, form a continuous lateral exit path, and are used for accommodating the complete lateral passing of the instrument rod part, the axial limiting member and the clamping structure thereof. When evacuating, the posture maintaining assembly maintains the A and B angles and the opening registration, and the rotating pair and the fixed side connection maintaining assembly are kept assembled; under the condition that the instrument is kept outside the device, the device is laterally evacuated relative to the instrument as the same assembly.

Description

Technical Field

[0001] This application relates to the field of surgical instrument guidance and mechanical limiting technology, and in particular to a biaxial swing angle and axial depth mechanical limiting and guiding device for slender surgical instruments. This device can be used in minimally invasive procedures such as spinal endoscopy, including unilateral dual-channel spinal endoscopy (UBE) related procedures, but is not limited to specific surgical procedures. Background Technology

[0002] In spinal endoscopy and other minimally invasive procedures, drills, bone cutters, curettes, radiofrequency instruments, and other slender instruments often need to reach the target area through a confined space. Axial advancement of the instrument may require depth boundaries, and oscillation around the entry or pivot area may require angular boundaries. If the attitude changes of the depth reference and the instrument guide axis are independent, inconsistencies can easily arise between the axial advancement and the projection of the fixed carrier when the instrument changes direction. Therefore, it is necessary to simultaneously address the guide attitude, working angle boundaries, axial depth limits, and release paths.

[0003] Existing technologies disclose structures such as dual-degree-of-freedom trajectory adjustment and detachable guide components, laterally open guides and axial depth stops, and openable guide sleeves and adjustable depth stops. US10357281B2 discloses a dual-degree-of-freedom trajectory frame and an instrument guide component that can be detached from the surrounding area of ​​the indwelling instrument; CN107613893A discloses a lateral opening alignment groove, an instrument side stop ring, and an internal bearing step that cooperates with it; GB1487728A discloses a split guide sleeve that can be opened and removed as a whole, a platform side groove, and an adjustable depth stop; CN218391209U discloses that the side grooves of the inner and outer sleeves form a laterally open channel after they overlap at corresponding positions. For nested dual-axis guide devices, when the instrument has reached the depth limit position, it is still necessary to handle the spatial coordination between multi-layer supports, reconfigurable working angle boundaries, current attitude maintenance structures, and lateral release paths, so that the entire range of set working swing angles allowed by the mechanism is consistent with the lateral path actually formed by the device. Summary of the Invention

[0004] This application aims to enable the dual-axis guide device to laterally withdraw from the depth-limited contact position while maintaining the predetermined working boundary and current posture, and to match the allowable working swing angle range with the lateral withdrawal space.

[0005] The main implementation structure of this application includes a fixed frame, a first rotating member, a second rotating member, a first rotating joint, a second rotating joint, an instrument guide assembly, and an axial limiting member. The axial limiting member has a clamping structure that can be detachably fixed to a selected axial position of the instrument rod. The instrument rod is the mating object of this device. The guide interface slides with the instrument rod, and the axial limiting bearing surface abuts against the axial limiting member fixed to the instrument rod. The dimensions of the continuous lateral exit passage are determined based on the complete lateral outline of the assembly to be traversed. The first rotating member swings relative to the fixed frame about a first rotating axis A, and the second rotating member swings relative to the first rotating member about a second rotating axis B. In this embodiment, the first rotating axis A and the second rotating axis B intersect and are perpendicular to each other, and the guide axis passes through the intersection point O.

[0006] In each rotary joint, the normal working swing angle boundary, the outermost settable position of the working swing angle boundary, and the current posture maintenance are respectively undertaken by different entities. In the first rotary joint (130), the first shaft stop protrusion (173) moves with the first rotating component (110), and the negative working machine stop (172) and the positive working machine stop (171) are supported by the fixed frame (100); the outward setting end of the arc-shaped adjustment groove where the negative working machine stop (172) is located is sealed by the physical setting stroke end point (174), and the outward setting end of the arc-shaped adjustment groove where the positive working machine stop (171) is located is sealed by the physical setting stroke end point (175). In the second rotating joint (140), the second shaft stop protrusion (183) moves with the second rotating member (120), and the negative working machine stop (182) and the positive working machine stop (181) are supported by the first rotating member (110); the outward setting end of the arc-shaped adjustment groove where the negative working machine stop (182) is located is sealed by the physical setting stroke end point (184), and the outward setting end of the arc-shaped adjustment groove where the positive working machine stop (181) is located is sealed by the physical setting stroke end point (185). The corresponding relationship is: A negative 172-174, A positive 171-175, B negative 182-184, B positive 181-185. The above-mentioned physical setting stroke end point only restricts the outward setting stroke of the working machine stop and does not undertake the working contact with the stop protrusion during normal swing. The maximum settable working swing angle range D_max is determined by the outermost settable position limited by the four entity setting limit parts; the current working swing angle range D_work is determined by the actual set position of the current working machine stop. D_work is within the allowable range of D_max.

[0007] The attitude holding assembly is located at each pivot support and uses a different locking mechanism than the machine tool stop. The attitude holding assembly switches the corresponding pivot from a rotatable state to a state that maintains its current angle without moving the machine tool stop. During lateral retraction, the attitude holding assembly continues to maintain the current relative angles of A and B and the exit registration of the multi-layered openings.

[0008] The instrument guiding assembly includes a fixed guide portion (151), a movable guide portion (152) capable of opening and closing relative to the fixed guide portion (151), and a releasable closure retention structure. When closed, the movable guide portion (152) and the fixed guide portion (151) together form a guide channel for axial sliding of the mating instrument rod portion (161). In one embodiment, the movable guide portion (152) is connected to the fixed guide portion (151) via a hinge structure (153), the axis of which is parallel to the current guide axis z_g. In another embodiment, the movable guide portion (152) employs... Figure 18 The sliding opening structure is shown. The fixed guide (151) is rigidly connected to the second rotating member (120) via a fixed side connecting bridge on the back side of the predetermined lateral opening, and forms an axial limiting bearing surface (151a). In the end face retraction embodiment, the movable end face (152a) retracts relative to the axial limiting bearing surface (151a) in the instrument pushing direction, so that when the axial limiting member (162) abuts against the axial limiting bearing surface (151a), an axial gap is formed between the movable end face (152a) and the axial limiting member (162), so that the direct axial depth limiting contact is located at the fixed guide (151), and makes way for the opening of the movable guide (152).

[0009] The fixed frame (100), the first rotating member (110), and the second rotating member (120) form the outer, middle, and inner support layers, respectively. The lateral open areas of each support layer are defined by its proximal end face, distal end face, and the opening sidewall connecting the two end faces. The lateral open areas of the fixed frame remain fixed in a common reference frame; the lateral open areas of the first and second rotating members change their spatial orientation as the corresponding members move. After establishing a common reference frame in a neutral position, the end face and opening sidewall of the first rotating member undergo rigid body transformation around the A-axis; the end face and opening sidewall of the second rotating member undergo rigid body transformation sequentially around the A-axis and the B-axis. The assembly to be passed includes at least the complete outline of the mating instrument rod (161), the axial limiting member (162), and the fastening or clamping member that moves laterally with the axial limiting member (162).

[0010] In the neutral common reference frame, the local opening directions of the fixed frame (100), the first rotating member (110), and the second rotating member (120) are e_100, e_110, and e_120, respectively, and the local end face normals are n_100, n_110, and n_120, respectively. For a given A and B attitude, the fixed layer adopts an identity transformation, the first rotating member adopts an A-axis rigid body transformation, and the second rotating member adopts a composite transformation of the A-axis transformation and the follower B-axis transformation, transforming the end faces and opening sidewalls of each layer to the common reference frame. In this embodiment, the inner layer opening direction e_120 is defined as the current eAB after transformation, and the inner layer end face normal n_120 is consistent with the current guide axis z_g after transformation. After swinging, each layer end face has its own spatial orientation. The direction of the instrument relative to the device is +eAB; when the position and attitude of the instrument are maintained outside the device, the direction of the device relative to the instrument is -eAB. For each layer, the entire process of the composite body to be passed moving along the straight line +eAB from the depth limit point S0 to the outermost entity boundary of the layer is determined by the end face and opening sidewall after rigid body transformation.

[0011] The working stops and their fasteners avoid continuous lateral exit paths in all permissible positions. The mechanical working boundary setting structure physically limits the maximum mechanically permissible working swing angle range, and the three-layer openings and related avoidance entities are configured according to this range. When adjusting the physical setting limit part to expand the maximum mechanically permissible working swing angle range, the arrangement of the three-layer lateral open areas and adjacent components should still meet the continuous lateral passage conditions within the expanded range.

[0012] For a cross-section that can be approximated by a local single width, the maximum effective width of the i-th layer's locally swept outline can be denoted as E_i,max, and the corresponding effective opening size can be denoted as W_i. A dimensional relationship of W_i ≥ E_i,max + 2c_i and c_i > 0 can be used. For eccentricities, steps, slots, thickness-direction narrowing, or the rotational envelope of fixed parts, the inclusion relationship of three-dimensional solids is directly used for judgment. c_i represents the nominal geometric clearance in the corresponding cross-section.

[0013] The axial limiting member (162) corresponding to the lateral release starting point S0 is still in contact with the axial limiting bearing surface (151a), and the instrument has not been retracted proximally along its own axis beforehand. After releasing the closed retaining structure and opening the movable guide (152) in this contact state, the device can be withdrawn in the predetermined lateral direction without having to retract the instrument proximally along its own axis beforehand, nor is it necessary to move the guide device away from the depth-limited contact position along the guide axis first. During the withdrawal process, the position and posture of the instrument are maintained by the operator or independent support; the posture holding assembly (190) continues to maintain the current angles A and B and the relative alignment of the multi-layer openings, and the device withdraws in the -eAB direction. The first rotating joint (130), the second rotating joint (140) and the fixed side connecting bridge remain assembled and connected throughout the withdrawal process, and the movable guide (152) remains connected to the fixed guide (151) and moves to the opening end point; lateral release does not require the removal of the rotating component or the removal of the instrument guide assembly along the guide axis as a necessary step.

[0014] The four entities set the end point of the stroke, limiting the outermost position of the machine stop to within D_max. The three openings are configured according to the locally swept shape of the outline to be passed through within the same D_max. The machine stop is reset inward using only the subdomain of D_max; the attitude holding component maintains the relative position of each opening during lateral withdrawal.

[0015] The above structure has the following beneficial effects:

[0016] (1) The axial limiting bearing surface changes its posture together with the second rotating component and the instrument guide assembly, so that the axial depth limiting reference takes the current axis of the guide assembly as the geometric reference.

[0017] (2) The fixed guide part is rigidly connected to the second rotating component via the open back side connecting bridge; in the embodiment of end face retraction, the movable end face retracts d>0 relative to the fixed bearing surface, so that the direct axial bearing contact in the limited depth contact initial state is located on the fixed side, and makes room for the movable guide part to open.

[0018] (3) The working machine stop forms the positive and negative working boundaries for normal swing; the physical setting limit part limits the outermost settable position of the working stop; the posture holding component maintains the current angle at the pivot support. The objects of action and locking positions of the three types of structures are separated from each other.

[0019] (4) The three-layer lateral open areas are all determined according to the local sweep shape of the assembly to be passed within the maximum mechanically set working swing angle range. Therefore, the working boundary is reset inward using only the subdomain of D_max, and cannot be entered into the larger working swing angle range not covered by the three-layer solid opening by simply adjusting the working mechanical stop.

[0020] (5) Normal axial retraction and lateral release use different pathways. Lateral release can begin from the depth-limited contact state; the premise is that the instrument is held outside the device and the moving guide and related release components have cleared the passage. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the device in a neutral position.

[0022] Figure 2 This is a schematic diagram of the overall structure when the first rotating component and the second rotating component are in a set of boundary postures. The diagram uses A=+20° and B=-20° as examples to indicate the first rotating joint (130), the second rotating joint (140), the first rotating shaft A, the second rotating shaft B, the intersection point O of the two shafts, the current guide axis z_g, and the lateral passing direction of the instrument relative to the device +eAB.

[0023] Figure 3 This is a partial structural diagram of the instrument guide assembly in the closed state, showing the fixed guide part (151), the movable guide part (152), the hinge structure (153), the door lock assembly (154), the instrument rod part (161), the axial limiting part (162), and the locking mechanism (163).

[0024] Figure 4 A comparative schematic diagram of the same instrument guide assembly from the closed state to the open 90° state is shown, displaying the fixed guide part (151), the movable guide part (152), and the hinge structure (153); the release process of the door lock assembly (154) is shown in the diagram. Figure 11 .

[0025] Figure 5 A schematic diagram illustrating the principle of the axial limiting bearing surface of the fixed guide, the yielding end face of the movable guide, the yielding distance d, and the axial depth limiting reaction force path.

[0026] Figure 6 This is a schematic diagram of the principle of the first rotating pair in two states: the first contact of the negative working boundary of the A-axis and the first contact of the positive working boundary of the A-axis. The negative boundary is defined by the first contact of the first shaft stop protrusion (173) with the first shaft negative working mechanical stop (172), and the positive boundary is defined by the first contact of the first shaft stop protrusion (173) with the first shaft positive working mechanical stop (171).

[0027] Figure 7 This is a schematic diagram of a partial cross-section of a three-layer laterally open area and the outer contour to be traversed, where c_i represents the nominal geometric gap in the corresponding cross-section.

[0028] Figure 8This diagram illustrates the initial, intermediate, and complete separation states of lateral release. The instrument is held externally, and the device is withdrawn along the -eAB direction; (a), (b), and (c) correspond to the starting point of the depth-limited contact, the middle of continuous separation, and the complete separation of the device from the instrument, respectively.

[0029] Figure 9 The diagram illustrates the overall structure and core collaborative relationships, showing the fixed carrier (100), the first rotating component (110), the second rotating component (120), the first rotating pair (130), the first rotating shaft A, the second rotating pair (140), the second rotating shaft B, the instrument guide assembly (150), the instrument rod (161), the first angle limiting assembly (170), the second angle limiting assembly (180), the posture holding assembly (190), the carrier interface (210), and the continuous lateral exit path (200) and +eAB; the axial section shows the axial limiting bearing surface (151a), the movable end face (152a), the axial limiting component (162), and d>0.

[0030] Figure 10 The diagram shows the axial sectional view of AA, including the axial limiting bearing surface (151a), the movable end face (152a), the instrument rod (161), the axial limiting member (162), the clearance distance d>0, the instrument advancement direction, and the adjacent hinge structure (153). Fz represents the axial force exerted by the axial limiting member (162) on the fixed guide part (151).

[0031] Figure 11 This is a schematic diagram of the door lock assembly (154) in three states: locked, in position release / extraction, and anti-disengagement endpoint. At the anti-disengagement endpoint, the anti-disengagement stop (154e) abuts against the fixed anti-disengagement receiving part (154f), the anti-disengagement locking pin (154a) is still partially located in the fixed side guide area, and the pin end has been withdrawn from the door end locking receiving part (154d).

[0032] Figure 12 The structural and cross-sectional schematic diagram of the attitude holding assembly (190) shows the split bearing (190a), the clamping screw (190b) spanning the joint, the optional height limiter (190c), the axial shoulder (190d), the effective journal support length of the shaft, the solid wall thickness of the clamping screw through hole relative to the shaft hole and the outer edge of the bearing, and the height limiter stop height h.

[0033] Figure 13 This is a partial structural schematic diagram of the first angle limiting component (170), showing the normal working contact between the A-axis working stop and the stop protrusion, the two separate arc-shaped adjustment grooves and their physical set stroke endpoints (174, 175), and the axial misalignment of the stop adjustment component.

[0034] Figure 14This is a schematic diagram illustrating the spatial relationship between the carrier interface (210) and a matching external support for connection, disconnection, and removal. It shows the interface body (210a), the detachable connector (210b), the matching external support, the support separation boundary, and the device removal direction. After the interface is disconnected, the support component exits the lateral removal sweep area of ​​the device, allowing the fixed carrier and its supported structure to be removed along a predetermined direction.

[0035] Figure 15 This is a schematic diagram of the overall boundary attitude, where A=+20°, B=-20° and the movable guide is open; the diagram indicates +eAB and -eAB, the direction of the instrument relative to the device is +eAB, and the direction of the device relative to the evacuation of the indwelling instrument is -eAB.

[0036] Figure 16 This is a partial structural schematic diagram of the second angle limiting assembly (180), showing the first contact between the B-axis stop protrusion (183) and the second axis negative working machine stop (182) at the negative boundary, and the first contact between the B-axis stop protrusion and the second axis positive working machine stop (181) at the positive boundary. It also shows two separate arc-shaped adjustment grooves and their physical set stroke endpoints (184, 185), and the stop stack consisting of the shank, contact shoulder, top, washer and nut and its axial misalignment.

[0037] Figure 17 In the diagram, (a) shows the relationship between the local end face normal and opening direction of each of the three support layers to the common reference system; (b) shows the continuous connection between the second rotating member (120), the fixed side connecting bridge and the fixed guide (151), and the positional relationship between the axial limiting member (162) and the axial limiting bearing surface (151a), and the movable end face (152a) relative to 151a and the retraction d>0 in the instrument advancing direction.

[0038] Figure 18 This is a schematic diagram of the sliding opening implementation of the movable guide (152), showing the guiding and anti-disengagement constraints of the sliding guide (155a) and the retaining shoulder or retaining part (155b) on the movable guide (152) from the closed position to the opening end point, and showing the opening direction, effective passage boundary, orthogonal section of sliding pair, and the relationship between the 161 / 162 / 163 exit contour and the continuous lateral exit path (200) / +eAB. Explanation of reference numerals in the attached figures

[0039] 100—Fixed frame; 110—First rotating component; 120—Second rotating component; 130—First rotating pair; 140—Second rotating pair; A—First rotating shaft; B—Second rotating shaft; O—Intersection of two shafts; 150—Instrument guide assembly; 151—Fixed guide part; 151a—Axial limiting bearing surface; 152—Modible guide part; 152a—Modible end face; 153—Hinged structure; 154—Door lock assembly; 154a—Anti-disengagement pin; 154b—Radial positioning component; 154c—Annular groove or limiting recess; 154d—Door end locking bearing part; 154e—Anti-disengagement stop part; 154f—Fixed anti-disengagement bearing part; 155a—Sliding guide rail; 155b—Retaining shoulder or retaining part; 161—Instrument rod Part; 162—Axial limiting component; 163—Depth limiting component locking mechanism; 170—First angle limiting assembly; 171, 172—First axis working machine stop; 173—First axis stop protrusion; 174, 175—First axis physical set travel end point; 180—Second angle limiting assembly; 181, 182—Second axis working machine stop; 183—Second axis stop protrusion; 184, 185—Second axis physical set travel end point; 190—Attitude holding assembly; 190a—Split shaft seat; 190b—Clamping screw; 190c—Height limiting component; 190d—Axial shoulder; 200—Continuous lateral exit passage; 210—Carrier interface; 210a—Interface body; 210b—Releasable connection component. Detailed Implementation

[0040] The present application will be further described below with reference to the accompanying drawings and embodiments. The following dimensions, angles, materials, and locking methods are used to illustrate the feasible structural relationships.

[0041] like Figure 1 , Figure 2 and Figure 9As shown, a fixed frame (100) supports a first rotating member (110), which rotates relative to the fixed frame (100) about a first axis A via a first revolute joint (130). The first rotating member (110) supports a second rotating member (120), which rotates relative to the first rotating member (110) about a second axis B via a second revolute joint (140). The axis support of the second revolute joint (140) moves with the first rotating member (110), so the spatial orientation of the second axis B in world coordinates changes with the rotation of axis A, while angle B is always based on a local reference that moves with the first rotating member (110). In this embodiment, the first axis A and the second axis B intersect and are perpendicular to each other, intersecting at point O. The guide axis of the instrument guide assembly (150) passes through point O. When the two rotating members are in a neutral position, A=B=0°. The movement of the first shaft stop protrusion (173) from the neutral position toward the first shaft negative working machine stop (172) is defined as A negative direction, and the movement toward the first shaft positive working machine stop (171) is defined as A positive direction; the movement of the second shaft stop protrusion (183) from the neutral position toward the second shaft negative working machine stop (182) is defined as B negative direction, and the movement toward the second shaft positive working machine stop (181) is defined as B positive direction.

[0042] like Figure 6 , Figure 13 and Figure 16 As shown, the first axis negative working machine stop 172 corresponds to the physical set stroke end point 174, and the first axis positive working machine stops 171 and 175 correspond to each other; the second axis negative working machine stops 182 and 184 correspond to each other, and the second axis positive working machine stops 181 and 185 correspond to each other. The stop protrusions 173 and 183 move with the corresponding rotating components, and make initial contact with the locked working machine stops when the normal swing reaches the set boundary; when the working boundary is reset, the working machine stops move along the corresponding arc-shaped adjustment groove and relock. The physical set stroke end point is located at one end of each arc-shaped adjustment groove that expands the allowable swing angle range, and does not form working contact with the stop protrusions during normal swing.

[0043] The four physical endpoints (174, 175, 184, 185) are formed by the groove end wall, fixed step, or fixed insert on the corresponding bearing member and are fixedly supported by the bearing member, thereby preventing the corresponding machine stop from being set further outward. In one numerical embodiment, the outermost settable working boundaries for the negative A-axis, positive A-axis, negative B-axis, and positive B-axis are -15°, +20°, -20°, and +15°, respectively. The boundary intervals for the corresponding machine stop to be reset in the neutral direction are -15° to -5°, +5° to +20°, -20° to -5°, and +5° to +15°, respectively. The above four outermost positions together give D_max in this embodiment; resetting inward yields the working subdomain D_work within D_max.

[0044] Two arc-shaped adjustment slots of the same rotating pair are separated from each other and respectively accommodate the complete adjustment components of the corresponding working machine stop. In a cylindrical contact embodiment, the effective contact radius of both the stop protrusion and the working machine stop is 2 mm, and the common contact trajectory radius is 12 mm; calculated based on the initial tangency condition, the angular offset of the stop mounting center relative to the target working boundary is approximately 19.19°. The contact post and the stop protrusion have sufficient axial overlap to form an effective contact area. The gasket, nut, and clamping element are arranged in an axially staggered layer outside this contact area to avoid larger fasteners colliding with the designed contact part at the same layer. Taking the local end face of the stop mounting as z=0, the nominal z range of the post handle is -2.0~2.2 mm, the contact shoulder is 2.2~5.8 mm, the top end is 5.8~7.3 mm, the nominal z range of the gasket is 2.0~2.2 mm, and the nut is -2.0~0 mm; the above complete stack avoids continuous lateral exit paths (200) in all permissible reset positions. In this embodiment, the complete outline of the stop post of the working machine stop and its accompanying washer, nut or clamping member is located in its permissible setting position on the side of the continuous lateral exit passage (200) away from the predetermined lateral opening side.

[0045] like Figure 12As shown, the attitude holding assembly (190) includes a split shaft seat (190a), a clamping screw (190b), and an axial shoulder (190d), and may include a height limiting member (190c) located outside the radial support surface of the shaft. The clamping screw (190b) passes through a through hole on one side of the joint, with the screw head bearing pressure on that side. The nut on the opposite side acts as a threaded connector, and the preload force crosses the joint to tighten the split shaft seat. The height limiting member (190c) is an optional travel limiter, and its stop position is located after the inner wall of the shaft hole contacts the outer circumference of the shaft. The stop height h is determined according to the clamping structure, target preload, and manufacturing tolerances. In one embodiment, the shaft diameter is 4.0 mm, the shaft hole diameter is 4.2 mm, the nominal width of the joint in the free state is 0.6 mm, and two M3 clamping screws are provided on each support side; the nominal solid wall thickness from the screw through hole to the outer edge of the bearing seat is 2.8 mm, and the nominal solid wall thickness between the shaft hole and the screw through hole is 2.2 mm. The axial shoulder (190d) forms two opposite axial solid constraints with the opposite support surface, another shoulder, or the mounting cover.

[0046] like Figures 3 to 5 , Figure 10 and Figure 17 As shown, the fixed guide (151) forms a continuous solid connection with the second rotating member (120) on the back side of the predetermined opening via a fixed-side connecting bridge; when the movable guide (152) is closed, it together with the fixed guide (151) forms a guide hole. The fixed guide forms an axial limiting bearing surface (151a), and the movable end face (152a) recoils by d relative to 151a along the instrument's advancing direction. In this embodiment, d = 1.0 mm, and the nominal distance from point O to 151a along the current guide axis is 6 mm. The nominal axial range of the fixed guide is locally z = -6 mm to +6 mm, and the nominal axial range of the movable guide is z = -5 mm to +6 mm. Therefore, when the axial limiting member (162) and the axial limiting bearing surface (151a) are in limited contact, an axial gap is formed between the movable end face (152a) and the axial limiting member (162), and the direct axial bearing is located on the fixed side. In one embodiment, the nominal range of the fixed-side connecting bridge in the local coordinates of the second rotating member is e = -24 mm to -6 mm, f = -2.5 mm to +2.5 mm, and z = -2 mm to +2 mm, corresponding to a nominal cross-section of 5 mm × 4 mm and a nominal span of 18 mm. The cross-sectional dimensions of the connecting bridge are determined according to the design bending moment, material properties, and allowable deformation; the clamping force of the attitude holding assembly is determined according to the required holding torque. Without encroaching on the predetermined lateral opening and continuous lateral exit passage, the outer frame can improve local stiffness by increasing the local radial width or axial thickness, setting reinforcing ribs, and / or using rounded transitions.

[0047] In one hinged opening embodiment, the movable guide (152) is connected to the fixed guide (151) via a hinge structure (153), the axis of which is parallel to the guide axis. The nominal coordinates of the hinge axis in the local cross-section of the instrument guide assembly are (e,f)=(0 mm,9 mm); the hinge pin radius is 0.8 mm, corresponding to a hinge hole radius of 0.85 mm, and the nominal radial clearance is 0.05 mm. The movable guide is in the closed position at 0°, and the nominal opening endpoint is 90°.

[0048] The axial limiting element (162) can be a depth limiting ring, a clamping ring, or a radial flange. In this embodiment, a depth limiting ring with an outer diameter of 14 mm and an axial thickness of 4 mm is used, with a local z-range of -10 mm to -6 mm, and a locking mechanism (163) is provided. The nominal diameter of the locking screw is 2.5 mm. In this embodiment, the maximum radial outer edge of the locking mechanism is located approximately 6.914 mm from the axis of the instrument rod, not exceeding the outer circle of the depth limiting ring with a radius of 7 mm. When other clamping structures are used, the passage is configured according to the complete outline of that structure.

[0049] like Figure 7 , Figure 9 and Figure 17 As shown, in this embodiment, the outer fixed frame (100), the middle first rotating member (110), and the inner second rotating member (120) adopt nominal annular support radii of 54 mm, 39 mm, and 24 mm, respectively, with a radial width of 4 mm and an axial thickness of 4 mm for each annular support. In their respective local coordinates, the nominal lateral opening widths are 30 mm, 22 mm, and 16 mm, respectively. The above widths correspond to their respective end faces and opening sidewalls. Given postures A and B within D_max, the three-layer boundaries are first transformed to a common reference system according to the rigid body transformations. Then, with the axial limiting member (162) and the axial limiting bearing surface (151a) in a predetermined bearing contact position without prior axial retraction as S0, the complete lateral outline of the mating device rod, the axial limiting member (162), and its clamping structure are continuously translated along +eAB until they completely cross the outermost entity boundary of the fixed frame. Whether the three-layer path is valid is determined by the relative positions of the entities in this path.

[0050] In this embodiment, the diameter of the instrument rod is 6.0 mm, the diameter of the closed guide hole is 6.6 mm, the effective guide length is 11 mm, the outer diameter of the depth limiting ring is 14 mm, and d = 1.0 mm. The nominal diameter difference between the guide hole and the rod is 0.6 mm. Under the ideal geometric assumption of a straight rigid rod, the inclination angle α of the rod axis relative to the guide axis can be estimated as α ≈ arctan(0.6 / 11) ≈ 3.122°. Based on the axial height difference on both sides of the depth limiting component diameter, 2 × 7 × sinα ≈ 0.7625 mm. Therefore, considering only this single ideal rigid body geometric factor, the nominal margin of d = 1.0 mm relative to this estimated value is approximately 0.2375 mm. This estimation does not take into account manufacturing, assembly, rod bending, friction, or load deformation; axial allowance and lateral opening margin are determined according to their respective geometric relationships.

[0051] In this embodiment, the nominal distance between the support centers on both sides of the A-axis is 100 mm, and the nominal distance between the support centers on both sides of the B-axis is 73 mm. The journal on the positive side extends axially to cover the main portion of the axial length of the corresponding bearing hole; in one embodiment, the effective support entry length on the positive side of the A-axis is about 9.8 mm, and on the positive side of the B-axis it is about 8.8 mm, matching the support lengths of about 10 mm and 9 mm on the other side.

[0052] A disturbance budget can be established for the lateral exit path. Let m_nom represent the nominal continuous geometric lower bound between the assembly to be passed and the prohibited contact entity on a given A and B attitude and a continuous evacuation path. Let Δ_open, Δ_pose, Δ_tool, and Δ_def represent the conservative upper bounds of the opening boundary manufacturing / assembly deviation, the projection of the axis and attitude error, the increment of the instrument profile or radial runout, and the deformation under load, respectively. Then, m_nom > Δ_open + Δ_pose + Δ_tool + Δ_def can be used as one of the design conditions to maintain a positive geometric margin.

[0053] like Figure 11 As shown, the door lock assembly (154) includes an anti-disengagement pin (154a), a radial positioning member (154b), an annular groove or limiting recess (154c), a door end locking receiving part (154d), an anti-disengagement stop part (154e) that moves with the lock pin, and a fixed anti-disengagement receiving part (154f). In this embodiment, the radial positioning member is first raised by 2 mm to release 154c, and the anti-disengagement pin is then pulled out 5 mm along the fixed side guide axis; the pin end is completely withdrawn from 154d before reaching the anti-disengagement endpoint, so that the movable guide part can be opened, and after continuing to move, 154e and 154f are physically abutted. At this endpoint position, the anti-disengagement pin (154a) still has a section located in the fixed side guide hole or sleeve and is guided by it, and the anti-disengagement stop part (154e) abuts against the fixed anti-disengagement receiving part (154f).

[0054] One implementation procedure for lateral release is as follows: maintain the position and attitude of the instrument from outside the device, establish or maintain the attitude hold at the current angles A and B, release the closed holding structure and open the movable guide, release the carrier interface if necessary, and then withdraw the device relative to the indwelling instrument along the -eAB direction; after the withdrawal is completed, release the attitude hold as needed. This procedure starts from the state where the axial limiting member (162) and the axial limiting bearing surface (151a) are in contact, without requiring the instrument to be withdrawn to the proximal end along its own axis in advance, nor requiring the guide device to be moved away from the depth limit contact position along the guide axis first. Figure 8 The relative separation process of the instrument and device is represented by the initial, intermediate and final states; the final state corresponds to the complete separation of the device and instrument, and the criterion is that the assembly to be passed completely crosses the outermost entity boundary of the fixed carrier relative to the device.

[0055] Normal axial retraction and lateral release use different pathways. During normal retraction, the movable guide remains closed. After the axial limiter moves away from 151a, only the guided section of the instrument rod is required to slide proximally along the guide hole; distal working heads, elbows, or movable jaws with a diameter larger than the guide hole are not required to pass through the guide hole. Lateral release releases the closure and allows the movable guide to clear the passage.

[0056] If the instrument's rod is a high-speed rotating rod, vibration, friction, heat generation, and wear are related to the rod's radial runout, rotational speed, whether the depth-limiting ring rotates with the rod, and the material and surface condition of the bearing surface.

[0057] for Figure 14 In the illustrated embodiment of the external support, the fixed frame interface (210) uses two side grippers to engage with the distal support housing. Each gripper has a nominal retraction stroke of 90 mm after release, and the clamping screws have a nominal release lift of 2 mm. After the grippers retract, the device has a nominal lateral withdrawal stroke of 80 mm. In this embodiment, the support housing, column, and rear crossbeam are all arranged outside the aforementioned withdrawal sweep envelope. When replacing the external support, the withdrawal space is determined according to the new outline, interface release direction, or stroke.

[0058] Figure 18 Another sliding opening embodiment is shown. The sliding guide rail (155a) and the retaining shoulder or retaining part (155b) maintain guidance and anti-disengagement engagement throughout the entire stroke of the movable guide part (152) from the closed position to the opening endpoint, and are arranged on the fixed side of the continuous lateral exit path; the opening endpoint is defined by a solid stop on the fixed side, ensuring that the movable guide part (152), the sliding guide rail (155a), and the retaining shoulder or retaining part (155b) do not cross the continuous overlapping opening formed along eAB of adjacent support layers at the opening endpoint. The sliding stroke is determined by the outline of the guide rail, the retaining part, and the movable guide part. During the lateral withdrawal stroke, the movable guide part (152) remains connected to the fixed guide part (151).

[0059] This application also provides an axial depth mechanical limiting guide sub-assembly that can be used as a complete machine module. The sub-assembly includes a fixed guide part, an openable movable guide part, a releasable closing retention structure, and an axial limiting member that can be fixed to the instrument rod. The fixed guide part forms an axial limiting bearing surface, and the movable end face recoils relative to the bearing surface in the advancing direction by d>0. When the movable guide part is opened, it forms an open path for the instrument rod, the axial limiting member, and its clamping structure to pass laterally with their complete lateral outline. When closed, it retains a normal axial retraction channel. Geometric Design and Verification Methods

[0060] The passage dimensions are determined based on the swept profile of the assembly to be traversed within its permissible swing angle range and lateral retreat stroke. The assembly to be traversed includes the complete lateral profile of the instrument lever (161), the axial stop (162), and its clamping structure. Each support layer, according to its laterally open area defined by its proximal end face, distal end face, and opening sidewall, is transformed to a common reference frame through corresponding rigid body transformations and compared with the continuous swept profile of the assembly to be traversed. The working stop and its fasteners avoid this swept profile at permissible set positions. The contact between the axial stop (162) and the axial stop bearing surface (151a), and the working contact between the working machine stop and the corresponding stop protrusion, are pre-permissible contacts; physical interference should be avoided between other entities. The dimensional design may also take into account profile variations caused by manufacturing, assembly, and usage conditions.

[0061] The numerical implementation disclosed in this application uses A = -15° to +20°, B = -20° to +15°, and the boundary setting ranges of the four working mechanical stops are A negative -15° to -5°, A positive +5° to +20°, B negative -20° to -5°, and B positive +5° to +15°, respectively; the instrument rod diameter is 6.0 mm, the guide hole diameter is 6.6 mm, the effective guide length is 11 mm, the outer diameter of the depth limiting ring is 14 mm, the thickness of the depth limiting ring is 4 mm, and d = 1.0 mm; the nominal radius / opening width of the three support layers are 54 / 30 mm, 39 / 22 mm, and 24 / 16 mm, respectively. D_work is the D_max subdomain obtained by the current working stop setting, i.e., the current working swing angle range. The complete stop stack avoids continuous lateral exit paths in all allowed reset positions.

Claims

1. A laterally detachable dual-axis swing angle and axial depth mechanical limiting and guiding device, comprising a fixed carrier (100), a first rotating member (110), a second rotating member (120), an instrument guiding assembly (150), and an axial limiting member (162), wherein the axial limiting member (162) has a clamping structure for detachably fixing to the shaft (161) of a slender surgical instrument used in conjunction; the first rotating member (110) is rotatably connected to the fixed carrier (100) via a first rotating joint (130), the second rotating member (120) is rotatably connected to the first rotating member (110) via a second rotating joint (140), the first rotating shaft A of the first rotating joint (130) and the second rotating shaft B of the second rotating joint (140) intersect and are perpendicular to each other, and the guide axis of the instrument guiding assembly (150) passes through the intersection point O of the two rotating shafts; characterized in that: The first rotating joint (130) and the second rotating joint (140) are respectively provided with mechanical working boundary setting structures. The mechanical working boundary setting structures include working mechanical stops for defining the positive and negative working swing angle boundaries of the corresponding rotating shafts and capable of setting and locking their positions, and stop mating entities that move with the corresponding rotating components. The corresponding working swing angle boundaries are defined by the contact between the corresponding working mechanical stops and the stop mating entities. The mechanical working boundary setting structures also include a solid setting limiting part fixedly supported by the corresponding bearing components. The solid setting limiting part restricts the working mechanical stops to the outermost set position in the direction of expanding the corresponding allowable swing angle and does not undertake working contact with the stop mating entities during normal swing. Each rotating shaft support is provided with a separate posture. The holding assembly (190) employs a locking entity different from the mechanical working boundary setting structure and is capable of maintaining the current angle of the corresponding axis of rotation without moving the set boundary position of the mechanical working boundary setting structure; the instrument guide assembly (150) includes a fixed guide portion (151) and a movable guide portion (152) capable of moving relative to the fixed guide portion (151) between a closed position and an open position. When the movable guide portion (152) is in the closed position, it together with the fixed guide portion (151) forms a guide channel for the axial sliding of the instrument rod portion (161). The fixed guide portion (151) is rigidly connected to the second rotating member (120) via a fixed-side connecting bridge on the predetermined lateral opening back side and forms a guide channel for the instrument rod portion (161). An axial limiting bearing surface (151a) directly abuts against the axial limiting member (162); the fixed frame (100), the first rotating member (110), and the second rotating member (120) respectively form an outer layer, a middle layer, and an inner layer support layer. Each support layer has a solid lateral open area defined by the fixed solid boundary of the support layer itself and extending to a predetermined lateral opening side. The solid lateral open area of ​​the first rotating member (110) moves around the first rotating axis A with the first rotating member (110), and the solid lateral open area of ​​the second rotating member (120) changes its spatial orientation with the movement of the first rotating member (110) around the first rotating axis A and the movement of the second rotating member (120) around the second rotating axis B; the limiting part is set by each solid. The outermost possible position of the limited working machine stop jointly determines the maximum possible working swing angle range. The physical boundaries of the three physical lateral open areas are configured according to the maximum possible working swing angle range, so that after the movable guide (152) moves to the open position and makes a predetermined lateral opening within the maximum possible working swing angle range, the instrument guide assembly (150) and the three physical lateral open areas form a continuous lateral exit passage (200) extending from the inner layer to the outside of the fixed carrier (100). The size and position of the continuous lateral exit passage (200) can accommodate the complete lateral outline of the instrument rod (161), the axial limit member (162), and the clamping structure that moves with the axial limit member (162) to pass laterally layer by layer.During lateral withdrawal, the attitude holding assembly (190) maintains the current relative angle of the first revolute joint (130) and the second revolute joint (140), keeping the three laterally open areas of the three entities out of registration. The first revolute joint (130), the second revolute joint (140), and the fixed-side connecting bridge remain assembled, allowing the device to withdraw laterally relative to the mating instrument as a single assembly, provided that the axial position and spatial attitude of the mating instrument are maintained outside the device.

2. The guiding device according to claim 1, characterized in that, The fixed frame (100), the first rotating member (110), and the second rotating member (120) each include an arc-shaped solid support portion arranged around the intersection area of ​​the two rotating axes. Each arc-shaped solid support portion has a lateral notch extending through its axial thickness to the predetermined lateral opening side. The proximal solid end face, the distal solid end face, and the opening sidewall defining the lateral opening area of ​​each solid are all fixed solid boundaries on the corresponding arc-shaped solid support portion.

3. The guiding device according to claim 1, characterized in that, The mechanical working boundary setting structure of the first rotary joint (130) includes a first shaft stop protrusion (173) that moves with the first rotary member (110), a first shaft negative working mechanical stop (172) and a first shaft positive working mechanical stop (171) carried by the fixed frame (100); the mechanical working boundary setting structure of the second rotary joint (140) includes a second shaft stop protrusion (183) that moves with the second rotary member (120), a second shaft negative working mechanical stop (182) and a second shaft positive working mechanical stop (181) carried by the first rotary member (110); the four working mechanical stops can be set and locked in their respective adjustment zones. The positive and negative working boundaries of the A-axis and B-axis are defined; four working machine stops are located in separate arc-shaped adjustment grooves, and the end of each arc-shaped adjustment groove that expands the corresponding allowable swing angle is sealed by a solid set stroke end point (174, 175, 184, 185) fixed to the corresponding bearing member; the solid set stroke end point limits the outermost set position of the corresponding working machine stop without undertaking the working contact during normal swing, and the complete outline of the working machine stop and its locking fastener avoids the continuous lateral exit path (200) in all allowable set positions; the contact part of the working machine stop and its locking washer, nut or clamping member are staggered in the axial direction.

4. The guiding device according to claim 1, characterized in that, The end face (152a) of the movable guide (152) facing the axial limiting member (162) recoils by a distance d relative to the axial limiting bearing surface (151a) in the instrument advancing direction, and d>0, so that when the axial limiting member (162) abuts against the axial limiting bearing surface (151a), an axial gap is formed between the movable end face (152a) and the axial limiting member (162), and the direct axial depth limiting contact is located at the fixed guide (151).

5. The guiding device according to claim 1, characterized in that, During the lateral retraction of the device relative to the cooperating instrument, the movable guide (152) remains connected to the fixed guide (151).

6. The guiding device according to claim 1, characterized in that, The movable guide (152) is connected to the fixed guide (151) via a hinge structure (153), the axis of which is parallel to the guide axis of the instrument guide assembly (150); the movable guide (152) rotates from the closed position to the open end position while maintaining the hinged connection with the fixed guide (151).

7. The guiding device according to claim 6, characterized in that, The instrument guide assembly (150) also includes a door lock assembly (154), which includes an anti-disengagement pin (154a), a radial positioning element (154b), an annular groove or limiting recess (154c) provided on the anti-disengagement pin (154a), a door end locking receiving part (154d), an anti-disengagement stop part (154e), and a fixed anti-disengagement receiving part (154f). After the radial positioning is released, the pin end of the anti-disengagement pin (154a) first exits the door end locking receiving part (154d), and after continuing to move, the anti-disengagement stop part (154e) stops against the fixed anti-disengagement receiving part (154f), and at this stopping position, a section of the anti-disengagement pin (154a) is still located in the fixed side guide hole or sleeve.

8. The guiding device according to claim 5, characterized in that, The movable guide (152) forms a sliding pair with the fixed guide (151) through the sliding guide (155a). The fixed side is provided with a retaining shoulder or retaining part (155b). The sliding guide (155a) and the retaining shoulder or retaining part (155b) maintain the guidance and anti-disengagement constraint of the movable guide (152) throughout the entire stroke of the movable guide (152) from the closed position to the opening end point. The opening end point is limited by the solid stop on the fixed side, so that the movable guide (152), the sliding guide (155a) and the retaining shoulder or retaining part (155b) do not cross the continuous lateral exit passage (200) at the opening end point.

9. The guiding device according to claim 1, characterized in that, The axial limiting member (162) is a depth limiting ring, clamping ring or radial flange that can be adjusted and locked along the rod portion (161) of the mating instrument. The axial limiting member (162) is provided with a fastening mechanism (163) or a split clamping structure. The complete lateral outline of the axial limiting member (162) and its fastening mechanism (163) or split clamping structure constitutes the outline to be passed through in the continuous lateral exit passage (200).

10. The guiding device according to claim 1, characterized in that, The attitude holding assembly (190) includes a split shaft seat (190a) and a clamping member (190b) located outside the shaft hole and spanning the split joint. One side of the split joint is provided with a through hole and a pressure bearing part for the clamping member (190b) to pass through, and the other side of the split joint is provided with a threaded receiving part that mates with the clamping member (190b). The clamping preload crosses the split joint and tightens the split shaft seat (190a) to form a radial clamping on the corresponding shaft.

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